//------------------------------------------------------------------------------
//  <copyright file="KukaLBR4OperationsTest.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
//  </copyright>
//------------------------------------------------------------------------------

namespace Test.Robotics.Hardware.KukaLBR.KukaLBR4Tests
{
    using System;
    using System.Runtime.InteropServices;
    using Microsoft.VisualStudio.TestTools.UnitTesting;

    /// <summary>
    /// Software only unit tests for KukaLBR4 specific components
    /// </summary>
    [DeploymentItem("Microsoft.Robotics.Hardware.KukaLBR.KukaLBR4Controller.dll")]
    [DeploymentItem("Microsoft.Robotics.Manipulation.ControllerStateMachine.dll")]
    [DeploymentItem("Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll")]
    [TestClass]
    public class KukaLBR4OperationsTest
    {
        /// <summary>
        /// Default result string size
        /// </summary>
        private const int DefaultResultStringSize = 200;

        /// <summary>
        /// Test CeeOpAdd
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsCeeOpAddTest()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpAdd, "TestCeeOpAdd");
        }

        /// <summary>
        /// Test CeeOpAddVec6
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsCeeOpAddVec6Test()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpAddVec6, "TestCeeOpAddVec6");
        }

        /// <summary>
        /// Test CeeOpMultiply
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestCeeOpMultiply()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpMultiply, "TestCeeOpMultiply");
        }

        /// <summary>
        /// Test CeeOpIsMagnitudeGreaterThanVec6
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestCeeOpIsMagnitudeGreaterThanVec6()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpIsMagnitudeGreaterThanVec6, "TestCeeOpIsMagnitudeGreaterThanVec6");
        }

        /// <summary>
        /// Test IsAnyElementGreaterThanVec6
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestCeeOpIsAnyElementGreaterThanVec6()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpIsAnyElementGreaterThanVec6, "TestCeeOpIsAnyElementGreaterThanVec6");
        }

        /// <summary>
        /// Test CopyVec7
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestCeeOpCopyVec7()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpCopyVec7, "TestCeeOpCopyVec7");
        }

        /// <summary>
        /// Test CopyVec6
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestCeeOpCopyVec6()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpCopyVec6, "TestCeeOpCopyVec6");
        }

        /// <summary>
        /// Test SimpleJointPositionInterpolation
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestCeeOpSimpleJointPositionInterpolation()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpSimpleJointPositionInterpolation, "TestCeeOpSimpleJointPositionInterpolation");
        }

        /// <summary>
        /// Test AddVec7
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsCeeOpTestCeeOpAddVec7()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpAddVec7, "TestCeeOpAddVec7");
        }

        /// <summary>
        /// Test SubtractVec7
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestCeeOpSubtractVec7()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpSubtractVec7, "TestCeeOpSubtractVec7");
        }

        /// <summary>
        /// Test AreScalarsEqual
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestCeeOpAreScalarsEqual()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpAreScalarsEqual, "TestCeeOpAreScalarsEqual");
        }

        /// <summary>
        /// Test SimpleCartesianInterpolation
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestCeeOpSimpleCartesianInterpolation()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpSimpleCartesianInterpolation, "TestCeeOpSimpleCartesianInterpolation");
        }

        /// <summary>
        /// Test SimpleCartesianInterpolation
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestCeeOpSimpleCartesianInterpolation2()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpSimpleCartesianInterpolation2, "TestCeeOpSimpleCartesianInterpolation2");
        }
       
        /// <summary>
        /// Test SimpleInterpolation
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestSimpleInterpolation()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestSimpleInterpolation, "TestSimpleInterpolation");
        }

        /// <summary>
        /// Test quaternion to/from frame conversions
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestQuaternionFrameConversions()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestQuaternionFrameConversions, "TestQuaternionFrameConversions");
        }

        /// <summary>
        /// Test multiplication of frames
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestMultiplyFrames()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestMultiplyFrames, "TestMultiplyFrames");
        }

        /// <summary>
        /// Test copying frames
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestCeeOpCopyFrame()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpCopyFrame, "TestCeeOpCopyFrame");
        }

        /// <summary>
        /// Test IsForceMagnitudeGreaterThanScalar
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestCeeOpIsForceMagnitudeGreaterThanScalar()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpIsForceMagnitudeGreaterThanScalar, "TestCeeOpIsForceMagnitudeGreaterThanScalar");
        }

        /// <summary>
        /// Test Vector3PlaneProject
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestVector3PlaneProject()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestVector3PlaneProject, "TestVector3PlaneProject");
        }
 
        /// <summary>
        /// Test Vector3Vector3Project
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestVector3Vector3Project()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestVector3Vector3Project, "TestVector3Vector3Project");
        }
 
        /// <summary>
        /// Test VectorMagnitude
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestVectorMagnitude()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestVectorMagnitude, "TestVectorMagnitude");
        }
 
        /// <summary>
        /// Test IsForceInPlaneGreaterThanScalar
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestCeeOpIsForceInPlaneGreaterThanScalar()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpIsForceInPlaneGreaterThanScalar, "TestCeeOpIsForceInPlaneGreaterThanScalar");
        }
 
        /// <summary>
        /// Test IsForceOrthogonalToPlaneGreaterThanScalar
        /// </summary>
        [TestMethod]
        [TestCategory("Unit")]
        [Priority(0)]
        public void KukaLBR4OperationsTestCeeOpIsForceOrthogonalToPlaneGreaterThanScalar()
        {
            KukaLBR4UnitTests.ExecuteNativeTest(NativeTestCeeOpIsForceOrthogonalToPlaneGreaterThanScalar, "TestCeeOpIsForceOrthogonalToPlaneGreaterThanScalar");
        }

        /// <summary>
        /// Test CeeOpAdd
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
            "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
            EntryPoint = "TestCeeOpAdd",
            CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpAdd(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpAddVec6
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
            "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll", 
            EntryPoint = "TestCeeOpAddVec6",
            CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpAddVec6(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpMultiply
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
            "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
            EntryPoint = "TestCeeOpMultiply",
            CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpMultiply(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpIsMagnitudeGreaterThanVec6
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
            "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
            EntryPoint = "TestCeeOpIsMagnitudeGreaterThanVec6",
            CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpIsMagnitudeGreaterThanVec6(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpIsAnyElementGreaterThanVec6
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
            "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
            EntryPoint = "TestCeeOpIsAnyElementGreaterThanVec6",
            CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpIsAnyElementGreaterThanVec6(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpCopyVec7
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
            "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
            EntryPoint = "TestCeeOpCopyVec7",
            CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpCopyVec7(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpCopyVec6
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
            "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
            EntryPoint = "TestCeeOpCopyVec6",
            CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpCopyVec6(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpSimpleJointPositionInterpolation
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
            "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
            EntryPoint = "TestCeeOpSimpleJointPositionInterpolation",
            CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpSimpleJointPositionInterpolation(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeAddVec7
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
            "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
            EntryPoint = "TestCeeOpAddVec7",
            CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpAddVec7(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpSubtractVec7
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
            "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
            EntryPoint = "TestCeeOpSubtractVec7",
            CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpSubtractVec7(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpAreScalarsEqual
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
            "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
            EntryPoint = "TestCeeOpAreScalarsEqual",
            CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpAreScalarsEqual(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpSimpleCartesianInterpolation
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
            "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
            EntryPoint = "TestCeeOpSimpleCartesianInterpolation",
            CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpSimpleCartesianInterpolation(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpSimpleCartesianInterpolation
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
            "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
            EntryPoint = "TestCeeOpSimpleCartesianInterpolation2",
            CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpSimpleCartesianInterpolation2(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpSimpleInterpolation
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
            "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
            EntryPoint = "TestSimpleInterpolation",
            CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestSimpleInterpolation(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpQuaternionFrameConversions
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
           "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
           EntryPoint = "TestQuaternionFrameConversions",
           CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestQuaternionFrameConversions(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpMultiplyFrames
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
         "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
         EntryPoint = "TestMultiplyFrames",
         CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestMultiplyFrames(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpCopyFrame
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
        "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
        EntryPoint = "TestCeeOpCopyFrame",
        CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpCopyFrame(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpIsForceMagnitudeGreaterThanScalar
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
        "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
        EntryPoint = "TestCeeOpIsForceMagnitudeGreaterThanScalar",
        CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpIsForceMagnitudeGreaterThanScalar(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test Vector3PlaneProject
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
        "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
        EntryPoint = "TestVector3PlaneProject",
        CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestVector3PlaneProject(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test Vector3Vector3Project
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
        "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
        EntryPoint = "TestVector3Vector3Project",
        CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestVector3Vector3Project(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test VectorMagnitude
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
        "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
        EntryPoint = "TestVectorMagnitude",
        CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestVectorMagnitude(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpIsForceInPlaneGreaterThanScalar
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
        "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
        EntryPoint = "TestCeeOpIsForceInPlaneGreaterThanScalar",
        CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpIsForceInPlaneGreaterThanScalar(IntPtr resultStringPointer, int bufferSize);

        /// <summary>
        /// Test CeeOpIsForceOrthogonalToPlaneGreaterThanScalar
        /// </summary>
        /// <param name="resultStringPointer">A string buffer to place the test results in.</param>
        /// <param name="bufferSize">Size of the provided string buffer.</param>
        [System.Diagnostics.CodeAnalysis.SuppressMessage("Microsoft.Design", "CA1060:MovePInvokesToNativeMethodsClass", Justification = "Purpose of this class is to wrap PInvokes"), DllImport(
        "Test.Robotics.Hardware.KukaLBR.KukaLBR4NativeTestLib.dll",
        EntryPoint = "TestCeeOpIsForceOrthogonalToPlaneGreaterThanScalar",
        CallingConvention = CallingConvention.Cdecl)]
        private static extern void NativeTestCeeOpIsForceOrthogonalToPlaneGreaterThanScalar(IntPtr resultStringPointer, int bufferSize);
    }
}
